EP0639888B1 - Method of detecting and regulating load on servomotor - Google Patents
Method of detecting and regulating load on servomotor Download PDFInfo
- Publication number
- EP0639888B1 EP0639888B1 EP94905832A EP94905832A EP0639888B1 EP 0639888 B1 EP0639888 B1 EP 0639888B1 EP 94905832 A EP94905832 A EP 94905832A EP 94905832 A EP94905832 A EP 94905832A EP 0639888 B1 EP0639888 B1 EP 0639888B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- servomotor
- abnormal load
- positional deviation
- value
- detecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/16—Controlling the angular speed of one shaft
Definitions
- This invention relates to a method of detecting an abnormal load acting on a servomotor which drives, for example, a cutter of a machine tool or a robot arm, and of controlling the servomotor when such abnormal load is detected.
- the speed command is set to "0", thereby stopping the servomotor immediately.
- the motor when abnormal load is detected, the motor is already affected by the disturbance load. Since the machine has elastically deformable components, even when the motor has stopped immediately in response to the detection of the abormal load, the motor causes the machine to be kept depressed or the machine to be kept elastically deformed, thereby causing the machine to be continuously subjected to the load and the resulting damages to the tools and machine components.
- EP-A-0059541 discloses a protective system for automatic tool changing apparatus, which monitors the load current of a driving motor and, when the load current reaches an abnormally high current value during the operating period excluding the motor starting period, the operation of the automatic tool changing apparatus is reversed and then stopped.
- the object of the present invention is to improve control of a servomotor so that the motor is more advantageously not affected by the load when an abnormal load on the motor is detected, thereby preventing tools and machine components from being damaged.
- a method of detecting an abnormal load on a servomotor and controlling the servomotor in such an abnormal condition comprising the steps of: (a) executing a position loop processing using an error register for storing a positional deviation value, and detecting an abnormal load acting on the servomotor during drive operation of the servomotor, and (b) when an abnormal load is detected in said step (a), setting in said error register a predetermined positional deviation having a direction opposite to the present advancing direction, rotating the servomotor in said opposite direction by a rotational amount corresponding to said predetermined positional deviation, and then stopping the servomotor.
- This method of detecting an abnormal load on a servomotor comprises the steps of detecting an abnormal load acting on a servomotor during drive operation of the servomotor, and stopping the servomotor after rotating the motor for a predetermined angle towards the reverse direction to the present direction of rotation.
- a method of detecting an abnormal load on a servomotor and controlling the servomotor in such an abnormal condition comprising the steps of: (a) executing a position loop processing using an error register for storing a positional deviation value to drive and control the servomotor, and estimating a disturbance torque applied to the servomotor using an observer during driving operation of the servomotor; (b) determining an abnormal load when the disturbance torque estimated in step (a) exceeds a reference value; and (c) when an abnormal load is detected in said step (b), setting in said error register a predetermined positional deviation having a direction opposite to the present advancing direction, rotating the servomotor in said opposite direction by a rotational amount corresponding to said predetermined positional deviation, and then stopping the servomotor.
- a disturbance estimating observer estimates a disturbance torque acting on the servomotor and an abnormal load is detected when the estimated disturbance torque exceeds a reference value. Furthermore, when the abnormal load is detected, a predetermined positional deviation having a direction opposed to the present advancing direction is set in an error register used for position loop processing. This enables the servomotor to be driven to reduce the previously set positional deviation to "O", thus causing the servomotor to stop after being rotated for a predetermined angle towards the direction reverse to the direction at the time when the abnormal load is detected.
- Fig. 1 shows a servomotor control system for a machine tool, robot, etc. applying a proportional control (P control) to the position control and a proportional-plus-integral control (PI control) to the speed control, which is capable of estimating the disturbance torque using an observer and detecting a collision, etc.
- P control proportional control
- PI control proportional-plus-integral control
- An element 1 represents a proportional gain Kp used in the position loop and an element 2 represents a transfer function used in the speed loop, where K1 is an integral constant and K2 is a proportional constant.
- Elements 3 and 4 represent transfer functions of the motor, where Kt is a torque constant and J is an inertia.
- An element 5 represents a transfer function which integrates the speed v to calculate the position ⁇ .
- TL represents a disturbance torque
- S a Laplace operator.
- the disturbance estimating observer 6 is incorporated into this servomotor control system in order to estimate the disturbance torque as shown in Fig. 1
- K3 in the element 62 and K4 in element 64 are the parameter values of the disturbance estimating observer 6 respectively.
- An element 61 represents a parameter value to be multiplied by the current value I as a torque command, which is actually outputted to the servomotor.
- Kt* is an estimated value of motor torque constant
- J* is an estimated value of inertia.
- a reference numeral 64 represents an integral element.
- the element 61 multiplies the current command I, outputted through the speed loop processing, by a value obtained by dividing the estimated value Kt* of the motor torque constant by the estimated value J* of the inertia.
- the element 62 multiples the constant K3 by a deviation Verr obtained by subtracting the estimated motor speed Va from the detected actual motor speed v.
- the element 63 multiplies the constant K4 by an integrated value of the deviation Verr. Outputs of these elements 61, 62 and 63 are added and this added value is then integrated in an element 64 to obtain the estimated motor speed va.
- an output of the element 63 represents an estimated overall disturbance torque Tdl acting on the motor.
- a frictional torque component (k ⁇ v) proportional to the speed is subtracted from the estimated overall disturbance torque Tdl, and then the difference is multiplied by a parameter J*/Kt* in an element 65, thus obtaining a disturbance estimation value Td2 for detection of collision.
- this disturbance estimation value Td2 has exceeded the reference value, it is judged that an abnormal load has occurred.
- Fig. 2 is a block diagram showing basic components of a servo control apparatus embodying the method of the present invention.
- a numerical control apparatus 10 controlling a machine tool or a robot, generates shift commands and various control signals, which are supplied through a shared memory 11 to a digital servo circuit 12.
- the digital servo circuit 12 including a processor (CPU), a ROM and a RAM, executes digital position and speed loop processing, and controls the servomotor 14 of each axis, through a servo amplifier 13, constituted of transistor invertors and others.
- a position/speed detector 15, detecting position and speed is constituted of a pulse coder or the like which is attached to the motor shaft of the servomotor, and outputs the feedback signals of position and speed to the digital servo circuit 12.
- Fig. 2 shows only a servo system of one axis, the same servo system is provided for each of remaining axes. The constitution of such a servo system is identical with that of a conventional digital serv
- the digital servo circuit 12 sets therein, in advance, the constants K3 and K4 constituting the observer, the estimated value Kt* of torque constant, the estimated inertial value J* , the coefficient k of estimated frictional torque, the reference value Ts for detection of abnormal load, and a return amount A in the event of the detection of abnormal load.
- the processor in the digital servo circuit first makes a judgement, in step S1, as to whether a flag F1 is "1" or not.
- the flag F1 is a flag to indicate the detection of an abnormal load, being set to "0" in the initial setting, and set to "1" when the abnormal load is detected in a step S7 as described later.
- step S2 the processor proceeds to step S2 to read a shift command generated through the shared memory 11 from the numerical control apparatus 10 in each distribution cycle in the same manner as in a conventional system.
- the position feedback value ⁇ from the position/speed detector 15 is subtracted from a move command ⁇ r which is divided for each position and speed loop processing cycle by DDA processing or the like, and the obtained value is added to an error register Er for storing positional deviation, thereby obtaining a new positional deviation.
- step S3 the positional deviation stored in the error register Er is multiplied by the position loop gain Kp to obtain the speed command Vcmd.
- step S4 thus obtained speed command Vcmd and the speed feedback value detected by the position/speed detector 15 undergo the speed loop processing to obtain the torque command I, which is then transferred to the current loop.
- the current loop executes a current loop processing in response to the torque command I to drive the servomotor.
- step S5 the processor executes the processing of the disturbance estimating observer 6 shown by the block diagram of Fig. 1, thus obtaining the estimated disturbance torque Td2, from which the frictional torque has been removed.
- step S6 a judgement is made as to whether the absolute value of the estimated disturbance torque Td2 obtained in the step S5 exceeds the predetermined reference value Ts being set for detecting abnormal load.
- the load is regarded as normal, and the processing of the current position and speed loop processing cycle is finished. In other words, as long as any abnormal load is not detected, and therefore the flag F1 remains set to "0", the processings of steps S1 to S6 are repeated in every position and speed loop processing cycle.
- step S6 When it is judged in the step S6 that the absolute value of the estimated disturbance torque Td2 exceeds the reference value Ts, the processor proceeds to step S7 and sets the flag F1 to "1".
- step S8 judges whether a flag F2 is set to "1".
- the flag F2 indicates whether or not the current processing cycle is the first cycle immediately after the detection of the abnormal load.
- the flag F2 is set to "0" in the initial setting for starting the operation of the machine.
- the shifting direction is judged based on the polarity of the shift command ⁇ given to the servomotor.
- the processor proceeds to a step S10, wherein the error register Er is set to "-A", i.e. a minus value having the magnitude of A being set as a return amount of the servomotor.
- the processor proceeds to step S11, wherein the error register Er is set to a positive value "A”.
- the flag F2 is set to "1" in step S12, and subsequently the processings in and after the step S3 are executed.
- the error register Er stores the positional deviation whose direction is opposite to the present advancing direction (i.e. a positional deviation of opposite polarity); therefore, the speed command Vcmd obtained in the step S3 becomes a speed command having a direction opposite to the present advancing direction.
- the torque command I obtained in the step S4 has the opposite direction, resulting in that the servomotor rotates in a direction opposite to the present rotating direction.
- the processor proceeds from the step S1 to the step S8, and then from the step S8 to a step S13, wherein the position feedback value ⁇ is subtracted from the error register Er to obtain a new positional deviation, and the processor executes the processings in and after the step 3.
- the processings of the steps S1, S8, S13, S3 to S6, and S7 are executed in each processing cycle.
- processings of the steps S5 to S7 are not necessary in each processing cycle after an abnormal load is once detected, and so when the flag F1 or F2 is set to "1", the processings of steps S5 to S7 may be omitted.
- the servomotor is stopped after making a predetermined amount of reverse rotation. Therefore, even when the machine is elastically deformed due to collision or the like, such an elastic deformation is released by the reverse rotation the servomotor, thus enabling the machine and the servomotor to stop in a condition free from the effect of the abnormal load.
- Figs. 4 and 5 show comparative experimental data of the conventional system and the system according to the present invention.
- Fig .4 shows the experimental data obtained according to the conventional method, in which a servomotor is stopped in response to detection of abnormal load using an observer
- Fig. 5 shows the experimental data obtained according to the method of the present invention.
- the present invention releases the movable portion or driving mechanism of a machine driven by a servomotor from being left subjected to a force caused by an abnormal load after it is detected. As a result, it becomes possible for mechanical components, tools, and further obstacles to be protected from being damaged.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Position Or Direction (AREA)
- Numerical Control (AREA)
- Stopping Of Electric Motors (AREA)
Description
Furthermore, when the abnormal load is detected, a predetermined positional deviation having a direction opposed to the present advancing direction is set in an error register used for position loop processing. This enables the servomotor to be driven to reduce the previously set positional deviation to "O", thus causing the servomotor to stop after being rotated for a predetermined angle towards the direction reverse to the direction at the time when the abnormal load is detected.
Claims (2)
- A method of detecting an abnormal load on a servomotor (14) and controlling the servomotor (14) in such an abnormal condition, comprising the steps of:(a) executing a position loop processing using an error register (Er) for storing a positional deviation value, and detecting an abnormal load acting on the servomotor (14) during drive operation of the servomotor (14), and(b) when an abnormal load is detected in said step (a), setting in said error register (Er) a predetermined positional deviation (A) having a direction opposite to the present advancing direction, rotating the servomotor (14) in said opposite direction by a rotational amount corresponding to said predetermined positional deviation (A), and then stopping the servomotor (14).
- A method of detecting an abnormal load on a servomotor (14) and controlling the servomotor (14) in such an abnormal condition, comprising the steps of:(a) executing a position loop processing using an error register (Er) for storing a positional deviation value to drive and control the servomotor (14), and estimating a disturbance torque applied to the servomotor (14) using an observer (6) during driving operation of the servomotor (14);(b) determining an abnormal load when the disturbance torque estimated in step (a) exceeds a reference value; and(c) when an abnormal load is detected in said step (b), setting in said error register (Er) a predetermined positional deviation (A) having a direction opposite to the present advancing direction, rotating the servomotor (14) in said opposite direction by a rotational amount corresponding to said predetermined positional deviation (A), and then stopping the servomotor (14).
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5045751A JPH06245561A (en) | 1993-02-10 | 1993-02-10 | Abnormal load detection control method for servo motor |
JP45751/93 | 1993-02-10 | ||
PCT/JP1994/000150 WO1994018751A1 (en) | 1993-02-10 | 1994-02-02 | Method of detecting and regulating load on servomotor |
Publications (3)
Publication Number | Publication Date |
---|---|
EP0639888A1 EP0639888A1 (en) | 1995-02-22 |
EP0639888A4 EP0639888A4 (en) | 1996-02-21 |
EP0639888B1 true EP0639888B1 (en) | 1998-05-13 |
Family
ID=12728015
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP94905832A Expired - Lifetime EP0639888B1 (en) | 1993-02-10 | 1994-02-02 | Method of detecting and regulating load on servomotor |
Country Status (6)
Country | Link |
---|---|
US (1) | US6057661A (en) |
EP (1) | EP0639888B1 (en) |
JP (1) | JPH06245561A (en) |
KR (2) | KR0144650B1 (en) |
DE (1) | DE69410190T2 (en) |
WO (1) | WO1994018751A1 (en) |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08249008A (en) * | 1995-03-09 | 1996-09-27 | Toyota Motor Corp | Equivalent circuit reference type controller and method thereof |
KR100459694B1 (en) * | 1998-04-08 | 2005-04-06 | 삼성전자주식회사 | How to measure the motor torque constant |
JP3367641B2 (en) * | 1998-07-31 | 2003-01-14 | 株式会社安川電機 | Robot control device |
JP3212571B2 (en) | 1999-03-26 | 2001-09-25 | ファナック株式会社 | Industrial robot |
JP2000277039A (en) * | 1999-03-26 | 2000-10-06 | Toshiba Corp | Image display device and manufacture thereof |
JP3459973B2 (en) | 1999-10-22 | 2003-10-27 | 川崎重工業株式会社 | Drive control method and drive control device |
JP2002001633A (en) * | 2000-06-19 | 2002-01-08 | Murata Mach Ltd | Working machine having abnormal load detecting function |
JP2003236787A (en) * | 2002-02-18 | 2003-08-26 | Kawasaki Heavy Ind Ltd | Drivingly controlling method and drivingly controlling device |
JP3820232B2 (en) * | 2003-05-02 | 2006-09-13 | 日精樹脂工業株式会社 | Mold clamping control method of injection molding machine |
FR2878460B1 (en) * | 2004-11-29 | 2008-06-13 | Comau Systemes France Sa | METHOD FOR CONTROLLING A MACHINE TOOL, IN PARTICULAR FOR THE PURPOSES OF ADJUSTING AND SECURING TOOL LOADING OPERATIONS AND SOFTWARE FOR PERFORMING IT |
US7627440B2 (en) * | 2007-08-28 | 2009-12-01 | Rockwell Automation Technologies, Inc. | Inertia and load torque estimating method and apparatus |
JP4335286B2 (en) * | 2008-02-08 | 2009-09-30 | ファナック株式会社 | Robot control apparatus and robot control method having component protection function |
TW200943016A (en) * | 2008-04-10 | 2009-10-16 | Wen-Liang Wang | Control system for servo-type location/force detection and operation |
JP5375062B2 (en) * | 2008-12-10 | 2013-12-25 | 株式会社安川電機 | Robot system and control method |
JP2011208956A (en) * | 2010-03-29 | 2011-10-20 | Hitachi Ltd | System of estimating torque of electric motor and estimation method therefor |
JP5382543B2 (en) * | 2010-06-25 | 2014-01-08 | 新東工業株式会社 | Electric cylinder control method and electric cylinder control system |
JP5815780B2 (en) * | 2014-03-19 | 2015-11-17 | ファナック株式会社 | Motor controller that can protect the machined surface when an abnormal load occurs |
JP6055002B2 (en) * | 2015-02-20 | 2016-12-27 | ファナック株式会社 | Human cooperative robot system that retracts the robot |
JP6034895B2 (en) | 2015-02-20 | 2016-11-30 | ファナック株式会社 | Human cooperative robot system that retracts the robot according to external force |
JP6055014B2 (en) * | 2015-03-23 | 2016-12-27 | ファナック株式会社 | Robot control device having function of detecting contact with object or person |
JP6848845B2 (en) * | 2017-12-15 | 2021-03-24 | オムロン株式会社 | Servo motor load condition diagnostic device and load status diagnostic method |
US20230191597A1 (en) * | 2018-01-10 | 2023-06-22 | Sony Corporation | Control device, control method, and program |
DE102021000741A1 (en) | 2020-03-03 | 2021-09-09 | Sew-Eurodrive Gmbh & Co Kg | Process for operating a machine and system for carrying out the process |
CN113037141A (en) * | 2021-03-10 | 2021-06-25 | 深圳市微秒控制技术有限公司 | Anti-falling method for gravity load starting of servo motor |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS544514B2 (en) * | 1973-04-19 | 1979-03-07 | ||
JPS5719483A (en) * | 1980-07-09 | 1982-02-01 | Hitachi Ltd | Automatic door operator |
JPS57144638A (en) * | 1981-02-26 | 1982-09-07 | Koichiro Kitamura | Protective device for automatic tool changing device |
ZA847740B (en) * | 1983-10-12 | 1985-05-29 | Byrne & Davidson Ind Ltd | Obstruction detection means |
JPS60230204A (en) * | 1984-04-27 | 1985-11-15 | Toyoda Mach Works Ltd | Safety device in movable body movement control device |
JPS61143803A (en) * | 1984-12-17 | 1986-07-01 | Toshiba Corp | Control device of robot |
JPH0773861B2 (en) * | 1985-04-26 | 1995-08-09 | ファナック株式会社 | Drive control method for injection molding machine driven by servo motor |
JPS6294251A (en) * | 1985-10-17 | 1987-04-30 | Toshiba Mach Co Ltd | Device for controlling position |
DE3864091D1 (en) * | 1987-06-30 | 1991-09-12 | Inventio Ag | ACTUAL VALUE FOR THE POSITION CONTROL CIRCUIT OF A LIFT DRIVE. |
US4933800A (en) * | 1988-06-03 | 1990-06-12 | Yang Tai Her | Motor overload detection with predetermined rotation reversal |
JP2665984B2 (en) * | 1989-12-26 | 1997-10-22 | ファナック株式会社 | Collision detection method using disturbance estimation observer |
US5304906A (en) * | 1989-12-26 | 1994-04-19 | Fanuc Ltd. | Collision detecting method using an observer |
US5218282A (en) * | 1990-03-22 | 1993-06-08 | Stanley Home Automation | Automatic door operator including electronic travel detection |
JP2871993B2 (en) * | 1993-03-31 | 1999-03-17 | 日本電気株式会社 | Servo motor position control device |
-
1993
- 1993-02-10 JP JP5045751A patent/JPH06245561A/en active Pending
-
1994
- 1994-02-02 WO PCT/JP1994/000150 patent/WO1994018751A1/en active IP Right Grant
- 1994-02-02 KR KR1019940703405A patent/KR0144650B1/en active
- 1994-02-02 DE DE69410190T patent/DE69410190T2/en not_active Expired - Fee Related
- 1994-02-02 EP EP94905832A patent/EP0639888B1/en not_active Expired - Lifetime
- 1994-09-29 KR KR1019940703405A patent/KR950701156A/en not_active IP Right Cessation
-
1996
- 1996-12-12 US US08/764,508 patent/US6057661A/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JPH06245561A (en) | 1994-09-02 |
EP0639888A4 (en) | 1996-02-21 |
KR950701156A (en) | 1995-02-20 |
US6057661A (en) | 2000-05-02 |
KR0144650B1 (en) | 1998-10-01 |
DE69410190T2 (en) | 1998-09-03 |
DE69410190D1 (en) | 1998-06-18 |
WO1994018751A1 (en) | 1994-08-18 |
EP0639888A1 (en) | 1995-02-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP0639888B1 (en) | Method of detecting and regulating load on servomotor | |
US5440213A (en) | Collision detecting method using an observer | |
US5493192A (en) | Abnormal load detection method | |
US20090200978A1 (en) | Robot controller having component protecting function and robot control method | |
US5602347A (en) | Tool life control method based on disturbance load torque of motor | |
JP3212571B2 (en) | Industrial robot | |
EP1321837B1 (en) | Servo controller | |
JP2665984B2 (en) | Collision detection method using disturbance estimation observer | |
JPH0751991A (en) | Tool breakage preventing method | |
JP2000052286A (en) | Robot control device | |
EP0547239B1 (en) | Back-lash acceleration control method | |
US5254921A (en) | Abnormality detecting method for a servo system | |
US5517100A (en) | Method of controlling a servo motor | |
JPH06339292A (en) | Force controlling method by estimation of disturbance load | |
JPH1170490A (en) | Collision detecting method for industrial robot | |
JP2673543B2 (en) | Excessive Error Detection Method in Servo Motor Control | |
JP2870482B2 (en) | Servo motor position control method and control device | |
EP0604663A1 (en) | Method for estimating inertia and disturbance torque, and method for detecting abnormal load | |
JPH06131050A (en) | Method for detecting collision of movable part driven by servo motor | |
JPH0739190A (en) | Brake malfunction detecting method for automatic machine | |
JP2002328707A (en) | Numerical controller | |
JPH06289917A (en) | Servo motor control method by estimated disturbance load torque | |
JPH06292379A (en) | Method of changing torque limit at the time of abnormal load | |
JPH10277887A (en) | Motor controlling method applicable at failure in position sensor | |
JP3197898B2 (en) | Servo motor control method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 19941104 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): DE IT |
|
A4 | Supplementary search report drawn up and despatched |
Effective date: 19960104 |
|
AK | Designated contracting states |
Kind code of ref document: A4 Designated state(s): DE IT |
|
17Q | First examination report despatched |
Effective date: 19961014 |
|
GRAG | Despatch of communication of intention to grant |
Free format text: ORIGINAL CODE: EPIDOS AGRA |
|
GRAG | Despatch of communication of intention to grant |
Free format text: ORIGINAL CODE: EPIDOS AGRA |
|
GRAH | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOS IGRA |
|
GRAH | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOS IGRA |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): DE IT |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED. Effective date: 19980513 |
|
REF | Corresponds to: |
Ref document number: 69410190 Country of ref document: DE Date of ref document: 19980618 |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
26N | No opposition filed | ||
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20090129 Year of fee payment: 16 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20100901 |